Man-vehicle-machine cooperative control system and method, medium and product

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a man-vehicle-aircraft cooperative control system and method, a medium and a product, and the system comprises a command center system which is used for establishing a satellite communication link with an unmanned vehicle system in a communication rejection environment, issuing a target task to the unmanned vehicle system through the satellite communication link, and sending the target task to the unmanned vehicle system; feedback data uploaded by the unmanned vehicle system are obtained through the satellite communication link; the unmanned vehicle system comprises at least one unmanned vehicle and is used for controlling the at least one unmanned vehicle to execute the target task issued by the command center system and uploading feedback data to the command center system; the unmanned aerial vehicle system comprises at least one unmanned aerial vehicle, and is used for carrying out ad hoc network with the unmanned vehicle system, controlling the at least one unmanned aerial vehicle to cooperate with the unmanned vehicle system to execute a target task, and sending data collected by the unmanned aerial vehicle to the unmanned vehicle system. Therefore, the problems of remote man-vehicle-machine cooperative control and the like in a communication denial environment in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a human-vehicle-machine collaborative control system, method, medium and product. Background Art

[0002] In complex environments such as modern battlefields and emergency rescue, communication denial has become a severe challenge, which directly poses a major threat to the seamless collaborative control and efficient mission execution between remote personnel, vehicles and drones.

[0003] Traditional communication methods, such as radio communication and satellite communication, although they demonstrate strong effectiveness under normal conditions, may suffer from serious interference, blockage or even complete failure when faced with complex electromagnetic interference, natural disaster damage, terrain shielding and potential human factors. This undoubtedly weakens the ability to share real-time information and coordinate operations across platforms. Summary of the invention

[0004] The present application provides a human-vehicle-machine collaborative control system, method, medium and product to solve the problems of long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art.

[0005] The first aspect of the present application provides a human-vehicle-machine collaborative control system, including: a command center system, which is used to establish a satellite communication link with an unmanned vehicle system in a communication denial environment, issue target tasks to the unmanned vehicle system through the satellite communication link, and obtain feedback data uploaded by the unmanned vehicle system through the satellite communication link, wherein the feedback data includes at least one of data collected by the unmanned vehicle and data collected by the unmanned aerial vehicle; an unmanned vehicle system, the unmanned vehicle system includes at least one unmanned vehicle, which is used to control at least one unmanned vehicle to execute the target task issued by the command center system, and upload feedback data to the command center system; an unmanned aerial vehicle system, the unmanned aerial vehicle system includes at least one unmanned aerial vehicle, which is used to self-organize with the unmanned vehicle system, control at least one unmanned aerial vehicle to cooperate with the unmanned vehicle system to execute the target task, and send the data collected by the drone to the unmanned vehicle system.

[0006] Optionally, the unmanned vehicle system also includes a satellite communication device, an industrial computer and a first communication module provided on the unmanned vehicle, wherein the satellite communication device is used to establish a satellite communication link with the command center system, the first communication module is used to conduct self-organizing networking with the unmanned vehicle system, and the industrial computer communicates with at least one unmanned vehicle, the satellite communication device and the first communication module respectively, and is used to control at least one unmanned vehicle to cooperate with the unmanned vehicle system to perform target tasks, and receive data collected by at least one unmanned vehicle and at least one unmanned vehicle.

[0007] Optionally, the UAV system also includes an onboard board arranged on the UAV and a second communication module arranged on the onboard board, wherein the second communication module is used to communicate with the first communication module to realize a self-organizing network of the unmanned vehicle system and the UAV system, and the onboard board is used to control at least one UAV to cooperate with the unmanned vehicle system to perform a target task, and to process data collected by at least one UAV, and to send the data collected by at least one UAV to the unmanned vehicle system.

[0008] Optionally, the data processing method of the onboard board includes: at least one of data compression and target recognition.

[0009] Optionally, the target mission includes at least one of an area mapping mission and a rescue mission.

[0010] The second aspect of the present application provides a human-vehicle-machine collaborative control method, which is applied to a command center system, wherein the method includes the following steps: identifying the current communication environment; if the current communication environment is a communication-denied environment, establishing a satellite communication link with an unmanned vehicle system in the communication-denied environment; sending a target task to the unmanned vehicle system via the satellite communication link, and obtaining feedback data uploaded by the unmanned vehicle system via the satellite communication link, wherein at least one of the unmanned vehicle system and the unmanned aerial vehicle system executes the target task, and the feedback data includes at least one of the data collected by the unmanned vehicle and the data collected by the unmanned aerial vehicle.

[0011] The third aspect of the present application provides a method for human-vehicle-machine collaborative control, which is applied to an unmanned vehicle system, wherein the method includes the following steps: establishing a satellite communication link with a command center system in a communication denial environment; obtaining target tasks issued by the command center system through the satellite communication link; controlling at least one unmanned vehicle to execute the target tasks issued by the command center system, and uploading feedback data to the command center system, wherein the feedback data includes at least one of data collected by the unmanned vehicle and data collected by the drone.

[0012] The fourth aspect of the present application provides a method for human-vehicle-machine collaborative control, which is applied to an unmanned vehicle system, wherein the method includes the following steps: establishing a self-organizing network with the unmanned vehicle system; obtaining a target task sent by the unmanned vehicle system through the self-organizing network; controlling at least one unmanned vehicle to collaborate with the unmanned vehicle system to perform the target task, and sending the data collected by the unmanned vehicle to the unmanned vehicle system.

[0013] The fifth aspect of the present application provides a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement the human-vehicle-machine collaborative control method as described in the above embodiment.

[0014] The sixth aspect of the present application provides a computer program product, which, when executed, is used to implement the human-vehicle-machine collaborative control method as described in the above embodiment.

[0015] Therefore, this application includes the following beneficial effects:

[0016] The embodiment of the present application establishes a stable communication channel between the command center and the unmanned vehicle system through satellite communication links in a complex environment of communication denial, ensuring the reliable transmission of instructions and mission data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. As a result, technical problems such as long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art are solved.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 This is an example diagram of a human-vehicle-machine collaborative control system provided according to an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the composition of an unmanned vehicle system provided according to an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the composition of a drone system provided according to an embodiment of the present application;

[0022] Figure 4 A schematic diagram of system communication provided according to an embodiment of the present application;

[0023] Figure 5 This is an example diagram of a human-vehicle-machine collaborative control system provided according to an embodiment of the present application;

[0024] Figure 6 A flowchart of a human-vehicle-machine collaborative control method provided according to an embodiment of the present application;

[0025] Figure 7 A flowchart of a human-vehicle-machine collaborative control method provided according to an embodiment of the present application;

[0026] Figure 8 This is a flow chart of a human-vehicle-machine collaborative control method provided according to another embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The following describes the human-vehicle-machine collaborative control system, method, medium and product of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the communication method mentioned in the above background technology is susceptible to interference and blocking, resulting in severe challenges for remote collaborative control and information sharing, the present application provides a human-vehicle-machine collaborative control system. In this system, a satellite communication link is used in a complex environment where communication is denied to establish a stable communication channel between the command center and the unmanned vehicle system, ensuring the reliable transmission of instructions and mission data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. As a result, the problems of long-distance human-vehicle-machine collaborative control in a communication denied environment in the prior art are solved.

[0029] Specifically, Figure 1 It is a block diagram of the human-vehicle-machine collaborative control system of an embodiment of the present application.

[0030] like Figure 1 As shown, the human-vehicle-machine collaborative control system 10 includes: a command center system 100, an unmanned vehicle system 200 and an unmanned aerial vehicle system 300.

[0031] In an embodiment of the present application, the command center system 100 is used to establish a satellite communication link with the unmanned vehicle system 200 in a communication denial environment, issue a target task to the unmanned vehicle system 200 through the satellite communication link, and obtain feedback data uploaded by the unmanned vehicle system 200 through the satellite communication link, wherein the feedback data includes at least one of data collected by the unmanned vehicle and data collected by the drone; the unmanned vehicle system 200 includes at least one unmanned vehicle, which is used to control at least one unmanned vehicle to execute the target task issued by the command center system 100, and upload feedback data to the command center system 100; the drone system 300 includes at least one drone, which is used to self-organize with the unmanned vehicle system 200, control at least one drone to cooperate with the unmanned vehicle system 200 to execute the target task, and send the data collected by the drone to the unmanned vehicle system 200.

[0032] Among them, the target mission may include at least one of a regional mapping mission and a rescue mission.

[0033] It can be understood that the embodiment of the present application ensures stable communication between the command center system 100 and the unmanned vehicle system 200 through satellite communication, while utilizing the self-organizing network technology of drones and unmanned workshops to expand the data collection range and enhance collaborative combat capabilities, thereby achieving real-time feedback and task adjustment, and improving the robustness and reliability of the system.

[0034] In the embodiments of the present application, Figure 2 As shown, the unmanned vehicle system 200 also includes a satellite communication device, an industrial computer and a first communication module arranged on the unmanned vehicle, wherein the satellite communication device is used to establish a satellite communication link with the command center system 100, the first communication module is used to conduct a self-organizing network with the unmanned vehicle system 300, and the industrial computer communicates with at least one unmanned vehicle, the satellite communication device and the first communication module respectively, and is used to control at least one unmanned vehicle to cooperate with the unmanned vehicle system 200 to perform a target task, and receive data collected by at least one unmanned vehicle and at least one unmanned vehicle.

[0035] It is understandable that the unmanned vehicle system 200 in the embodiment of the present application integrates satellite communication equipment, industrial control computers and self-organizing network communication modules, and realizes efficient coordination with the command center system 100 and the unmanned vehicle system 300. Satellite communication ensures the stability of remote commands and data transmission, and self-organizing network technology is used to promote the coordinated operation of unmanned vehicles and unmanned workshops, and the industrial control computer is used for comprehensive control and management, so as to improve the efficiency and accuracy of task execution, and enhance the anti-interference and survivability of the system.

[0036] In the embodiments of the present application, Figure 3 As shown, the drone system 300 also includes an onboard board arranged on the drone and a second communication module arranged on the onboard board, wherein the second communication module is used to communicate with the first communication module to realize a self-organizing network of the unmanned vehicle system 200 and the drone system 300, and the onboard board is used to control at least one drone to cooperate with the unmanned vehicle system 200 to perform a target task, and process data collected by at least one drone, and send the data collected by at least one drone to the unmanned vehicle system 200.

[0037] It can be understood that the onboard board in the drone system 300 in the embodiment of the present application works in coordination with the second communication module to achieve self-organizing network communication with the unmanned vehicle system 200, control the drone to perform tasks and process and transmit collected data, promote close collaboration and information sharing between the drone and the unmanned workshop, and improve the overall task execution efficiency and success rate.

[0038] In an embodiment of the present application, the data processing method of the onboard board may include at least one of data compression and target recognition.

[0039] According to the human-vehicle-machine collaborative control system proposed in the embodiment of the present application, a stable communication channel is established between the command center and the unmanned vehicle system through satellite communication links in a complex environment with communication denial, ensuring the reliable transmission of instructions and task data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. In this way, the problems of long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art are solved.

[0040] The following will describe the human-vehicle-machine collaborative control system through a specific embodiment, as follows:

[0041] like Figure 4 As shown in the figure, the human-vehicle-machine collaborative control system includes a command center, an unmanned vehicle system, and an unmanned aerial vehicle system. Specifically, the command center, unmanned vehicles, and unmanned aerial vehicles are in different geographical locations. In a communication denial environment, the command center sends messages to the unmanned vehicle system via a high-throughput satellite. The unmanned vehicle system communicates with the command center via a high-throughput satellite, and the unmanned aerial vehicle system communicates with the unmanned vehicle system via a communication module. The command center issues tasks, the unmanned vehicle processes the task information, and issues tasks to the unmanned vehicle and the unmanned aerial vehicle. In this way, human-vehicle-machine collaborative control can be achieved in a long-distance communication denial environment.

[0042] Specifically, if Figure 5 As shown in the figure, the command center requires the unmanned vehicle to pass through the selected area. The road conditions in the selected area are unclear, and the passable area is unclear. After receiving the message, the unmanned vehicle plans the route according to the selected area through the industrial computer, generates the route and sends it to the drone through the communication module. After receiving the command, the drone starts to perform the task according to the route. Through the "flying-transmitting-processing" mode, the drone transmits the collected area information to the unmanned vehicle through the communication module. After the unmanned vehicle receives the area information collected by the drone. The map is constructed through the industrial computer, including: regional DOM, regional DSM, and DOM semantic segmentation map. After completing the map construction, the unmanned vehicle divides the passable area according to the DOM semantic segmentation results. Then combine the elevation information of DSM for path planning. Finally, the unmanned vehicle passes through the selected area according to the specified path.

[0043] In summary, the embodiments of the present application can achieve long-distance coordinated control of unmanned vehicles and drones under communication denial conditions; at the same time, the system does not require human supervision and can completely rely on unmanned vehicles and drone systems to complete all operational tasks, and can provide real-time feedback on the task status to the command center, which is of great significance for emergency rescue and national defense.

[0044] Next, the human-vehicle-machine collaborative control method proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0045] Figure 6 A flow chart of the human-vehicle-machine collaborative control method provided in an embodiment of the present application.

[0046] like Figure 6 As shown, the human-vehicle-machine collaborative control method is applied to a command center system, and the human-vehicle-machine collaborative control method includes the following steps:

[0047] In step S101, the current communication environment is identified.

[0048] The communication environment may be the physical and network conditions under which information is transmitted between devices.

[0049] It can be understood that the embodiments of the present application can determine whether the current environment is a communication denial environment by identifying the current communication environment, which helps the system to select an appropriate communication method in a timely manner.

[0050] In step S102, if the current communication environment is a communication denied environment, a satellite communication link is established with the unmanned vehicle system in the communication denied environment.

[0051] It can be understood that the embodiments of the present application can ensure the communication continuity between the unmanned vehicle system and the command center by establishing a satellite communication link in a communication denial environment, and maintain stable communication even in extreme environments, thereby improving task execution efficiency and system security.

[0052] In step S103, the target task is sent to the unmanned vehicle system via a satellite communication link, and feedback data uploaded by the unmanned vehicle system is obtained via a satellite communication link, wherein at least one of the unmanned vehicle system and the drone system executes the target task.

[0053] The feedback data includes at least one of data collected by the unmanned vehicle and data collected by the drone.

[0054] It can be understood that the embodiments of the present application utilize satellite communication links to achieve remote task deployment and real-time feedback monitoring of the unmanned vehicle system, enhance the flexibility and reliability of task execution, while reducing dependence on ground communication facilities and supporting multi-scenario applications.

[0055] It should be noted that the aforementioned explanation of the embodiment of the human-vehicle-machine collaborative control system is also applicable to the human-vehicle-machine collaborative control method of this embodiment, and will not be repeated here.

[0056] According to the human-vehicle-machine collaborative control method proposed in the embodiment of the present application, a stable communication channel is established between the command center and the unmanned vehicle system through satellite communication links in a complex environment with communication denial, ensuring the reliable transmission of instructions and task data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. In this way, the problems of long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art are solved.

[0057] Figure 7 A flowchart of a human-vehicle-machine collaborative control method provided in one embodiment of the present application.

[0058] like Figure 7 As shown, the human-vehicle-machine collaborative control method is applied to an unmanned vehicle system, and the human-vehicle-machine collaborative control method includes the following steps:

[0059] In step S201, a satellite communication link is established with a command center system in a communication denied environment.

[0060] It can be understood that the embodiment of the present application establishes a stable connection with the command center system through a satellite communication link to ensure task deployment, real-time feedback and command adjustment, improve the system's collaborative combat effectiveness and security, and reduce communication costs.

[0061] In step S202, the target task issued by the command center system is obtained through a satellite communication link.

[0062] It can be understood that in an environment where communication is denied, the embodiment of the present application obtains the target task issued by the command center system through a satellite communication link, thereby ensuring the timeliness and accuracy of task reception, expanding the scope of task execution, and improving the flexibility and adaptability of task execution.

[0063] In step S203, at least one unmanned vehicle is controlled to execute the target task issued by the command center system, and the feedback data is uploaded to the command center system.

[0064] The feedback data may include at least one of data collected by an unmanned vehicle and data collected by a drone.

[0065] It is understandable that after receiving the target task issued by the command center system through the satellite communication link, the unmanned vehicle system can quickly respond and execute the task, and at the same time use the same communication link to upload the feedback data during the task execution process to the command center system in real time. This enables the command center system to evaluate the task execution effect in real time and dynamically adjust the task plan or command strategy according to the actual situation to cope with complex and changing battlefield environments or task requirements.

[0066] It should be noted that the aforementioned explanation of the embodiment of the human-vehicle-machine collaborative control system is also applicable to the human-vehicle-machine collaborative control method of this embodiment, and will not be repeated here.

[0067] According to the human-vehicle-machine collaborative control method proposed in the embodiment of the present application, a stable communication channel is established between the command center and the unmanned vehicle system through satellite communication links in a complex environment with communication denial, ensuring the reliable transmission of instructions and task data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. In this way, the problems of long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art are solved.

[0068] Figure 8 A flowchart of a human-vehicle-machine collaborative control method provided in another embodiment of the present application.

[0069] like Figure 8 As shown, the human-vehicle-machine collaborative control method is applied to a UAV system, and the human-vehicle-machine collaborative control method includes the following steps:

[0070] In step S301, a self-organizing network is established with the unmanned vehicle system.

[0071] It can be understood that the self-organizing network technology in the embodiment of the present application can form a communication network covering a wide area through direct communication and relay forwarding between nodes, thereby expanding the communication range of the unmanned vehicle system and enabling it to perform tasks in a wider area.

[0072] In step S302, the target task sent by the unmanned vehicle system is obtained through the ad hoc network.

[0073] It can be understood that the embodiments of the present application utilize self-organizing network technology to obtain the target tasks sent by the unmanned vehicle system, which enhances the flexibility, real-time and coordination of task reception, reduces communication costs, improves resource utilization, and enhances system security and adaptability to complex environments, thereby supporting more efficient, flexible and safe unmanned vehicle task execution.

[0074] In step S303, at least one drone is controlled to cooperate with the unmanned vehicle system to perform the target task, and the data collected by the drone is sent to the unmanned vehicle system.

[0075] It can be understood that the embodiments of the present application enhance the accuracy and efficiency of task execution through the collaborative operation of the drone and the unmanned vehicle system, utilizing the drone's high-altitude field of view and real-time data collection capabilities. The data collected by the drone can be transmitted to the unmanned vehicle system in real time to ensure that both parties can keep abreast of the progress of the task and environmental changes. The drone and the unmanned vehicle system can work together to complement each other's strengths and complete the task together.

[0076] It should be noted that the aforementioned explanation of the embodiment of the human-vehicle-machine collaborative control system is also applicable to the human-vehicle-machine collaborative control method of this embodiment, and will not be repeated here.

[0077] According to the human-vehicle-machine collaborative control method proposed in the embodiment of the present application, a stable communication channel is established between the command center and the unmanned vehicle system through satellite communication links in a complex environment with communication denial, ensuring the reliable transmission of instructions and task data; at the same time, the self-organizing network technology of unmanned aerial vehicles and unmanned workshops is used to expand the data collection range and enhance the collaborative combat capability, realize real-time feedback and task adjustment, and improve the robustness and reliability of the system. In this way, the problems of long-distance human-vehicle-machine collaborative control in a communication denial environment in the prior art are solved.

[0078] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the human-vehicle-machine collaborative control method as described above is implemented.

[0079] An embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed, implements the above-mentioned human-vehicle-machine collaborative control method.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0081] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0082] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0083] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0084] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0085] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A human-vehicle-machine collaborative control system, characterized in that: include: A command center system, configured to establish a satellite communication link with the unmanned vehicle system in a communication-denied environment, issue a target task to the unmanned vehicle system via the satellite communication link, and obtain feedback data uploaded by the unmanned vehicle system via the satellite communication link, wherein the feedback data includes at least one of data collected by the unmanned vehicle and data collected by the drone; An unmanned vehicle system, the unmanned vehicle system comprising at least one unmanned vehicle, configured to control the at least one unmanned vehicle to execute the target task issued by the command center system, and upload the feedback data to the command center system; The unmanned aerial vehicle system includes at least one unmanned aerial vehicle, which is used to form a self-organizing network with the unmanned vehicle system, control the at least one unmanned aerial vehicle to cooperate with the unmanned vehicle system to perform the target task, and send the data collected by the unmanned aerial vehicle to the unmanned vehicle system.

2. The human-vehicle-machine cooperative control system according to claim 1, characterized in that: The unmanned vehicle system also includes a satellite communication device, an industrial computer and a first communication module installed on the unmanned vehicle, wherein the satellite communication device is used to establish a satellite communication link with the command center system, the first communication module is used to conduct self-organizing networking with the unmanned vehicle system, and the industrial computer communicates with the at least one unmanned vehicle, the satellite communication device and the first communication module respectively, and is used to control the at least one unmanned vehicle to cooperate with the unmanned vehicle system to perform the target task, and receive data collected by the at least one unmanned vehicle and the data collected by at least one unmanned vehicle.

3. The human-vehicle-machine cooperative control system according to claim 2, characterized in that: The drone system also includes an onboard board arranged on the drone and a second communication module arranged on the onboard board, wherein the second communication module is used to communicate with the first communication module to realize a self-organizing network of an unmanned vehicle system and the drone system, and the onboard board is used to control the at least one drone to cooperate with the unmanned vehicle system to perform the target task, process the data collected by the at least one drone, and send the data collected by the at least one drone to the unmanned vehicle system.

4. The human-vehicle-machine cooperative control system according to claim 3, characterized in that: The data processing method of the onboard board includes at least one of data compression and target recognition.

5. The human-vehicle-machine cooperative control system according to claim 1, characterized in that: The target mission includes at least one of an area mapping mission and a rescue mission.

6. A human-vehicle-machine collaborative control method, characterized in that: The method is applied to a command center system, wherein the method comprises the following steps: Identify the current communication environment; If the current communication environment is a communication-denied environment, establishing a satellite communication link with the unmanned vehicle system in the communication-denied environment; The target task is sent to the unmanned vehicle system via the satellite communication link, and feedback data uploaded by the unmanned vehicle system is obtained via the satellite communication link, wherein at least one of the unmanned vehicle system and the unmanned aerial vehicle system performs the target task, and the feedback data includes at least one of data collected by the unmanned vehicle and data collected by the unmanned aerial vehicle.

7. A human-vehicle-machine collaborative control method, characterized in that: The method is applied to an unmanned vehicle system, wherein the method comprises the following steps: Establish satellite communication links with command center systems in communications-denied environments; Acquire the target task issued by the command center system through the satellite communication link; Control the at least one unmanned vehicle to execute the target task issued by the command center system, and upload the feedback data to the command center system, wherein the feedback data includes at least one of the data collected by the unmanned vehicle and the data collected by the drone.

8. A human-vehicle-machine collaborative control method, characterized in that: The method is applied to an unmanned aerial vehicle system, wherein the method comprises the following steps: Conducting self-organizing networking with the unmanned vehicle system; Acquire the target task sent by the unmanned vehicle system through the self-organizing network; Control the at least one drone to cooperate with the unmanned vehicle system to perform the target task, and send the data collected by the drone to the unmanned vehicle system.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the human-vehicle-machine collaborative control method described in any one of claims 6-8 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the human-vehicle-machine collaborative control method described in any one of claims 6-8 is implemented.

Images